
# Desc: Device definitions for Activemedia robots.
# Author: Andrew Howard, Richard Vaughan
# Date: 10 Jun 2002
# CVS: $Id: homer.inc 8825 2010-07-15 11:38:41Z thjc $

define homer position
(
  # actual size
  size    [0.37 0.37 1]
  origin  [-0.1 0 0 0] # the wheelchairs's center of rotation is offset from its center of area / I considered it to be 30 cm from the mid Axes
  velocity [0 0 0]    # Initial Robot Velocity
  color "gray" # body colorx
  
  # GUI properties
  gui_nose 1 # draw a nose on the robot so we can see which way it points
  #gui_grid 1
  gui_movemask 1
  
  # estimated mass in KG
  mass 15.0 
  
  # determine how the model appears in various sensors
  obstacle_return 1
  laser_return 1
  ranger_return 1
  fiducial_return 1
  # differential steering model
  drive "diff"

  #body shape
  block
  (
	    points 4
	    point[0] [ 0.185 -0.185 ]
	    point[1] [-0.185 -0.185 ]
	    point[2] [-0.185  0.185 ]
	    point[3] [ 0.185  0.185 ]
	    #z[0 0.3]
  )

  #bitmap ""
  #bitmap_resolution 0	
) 

